微操作系统中微型物体上点的空间坐标的计算方法研究

Calculation of 3D Coordinates of the Points on a Micro Object in a Micro Operation System Using Simple Algorithm

为操作者提供微型物体的完整的、放大的三维信息 ,就可以使操作者像在他日常生活中那样精密地控制所使用的工具和被操作对象 ,解决了在显微镜下操作者的视野和观察方向受到限制以及缺少第三维信息的问题 ,而为了实时、无遮挡地生成物体的三维虚拟放大影像 ,需要获得被操作对象不同角度的图像信息并采用简洁、快速的算法以满足实时性要求。介绍在一个人类级微型物体虚拟遥操作系统中根据不同角度拍摄的图像计算物体上点的空间坐标时所采用的一些算法。

The complete, magnified 3D information about a micro object to be operated enables the operator to control his tools and operate a micro object as he does in daily life. It covers the shortage of the limitation of viewing field and the observing direction and the lack of depth information that exist when the operator performs his operation under the microscope. To generate a real time, magnified 3D virtual image about the micro object to be operated, information about the object from different directions is needed. Some simple algorithms are used to meet the real time requirement. Algorithms used in calculating the 3D coordinates on a micro object with a pair of images taken by the camera pair in a multi camera system are introduced.